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Q: brake pedal squeaks on 1999 Toyota RAV4

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pedal squeaks when release
(1) Answer
Brake squeal (assuming the brake lining are sufficiently thick) could be caused by brake pad material, (cheaper pads often make noise!), brake rotor surface finish can also cause brake noise, brake caliper hardware, silencing shims can also be the cause. Brakes would have to examined to determine/fix the true cause of the noise.